JP2016535623A - Control system applied to fire trucks for fire fighting activities in high-rise and skyscrapers - Google Patents

Control system applied to fire trucks for fire fighting activities in high-rise and skyscrapers Download PDF

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JP2016535623A
JP2016535623A JP2016526390A JP2016526390A JP2016535623A JP 2016535623 A JP2016535623 A JP 2016535623A JP 2016526390 A JP2016526390 A JP 2016526390A JP 2016526390 A JP2016526390 A JP 2016526390A JP 2016535623 A JP2016535623 A JP 2016535623A
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fire
control
camera head
module
rise
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JP6170623B2 (en
Inventor
▲暁▼▲飛▼ 葛
▲暁▼▲飛▼ 葛
佳▲輝▼ 李
佳▲輝▼ 李
▲濤▼ 王
▲濤▼ 王
旭▲チャン▼ 丁
旭▲チャン▼ 丁
旭▲陽▼ ▲チュウ▼
正新 李
超 田
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北京机械▲設▼▲備▼研究所
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Priority to PCT/CN2013/079455 priority Critical patent/WO2015006917A1/en
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    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C3/00Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/025Fire extinguishing bombs; Projectiles and launchers therefor
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C27/00Fire-fighting land vehicles
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C3/00Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C37/00Control of fire-fighting equipment
    • AHUMAN NECESSITIES
    • A62LIFE-SAVING; FIRE-FIGHTING
    • A62CFIRE-FIGHTING
    • A62C8/00Hand tools or accessories specially adapted for fire-fighting, e.g. tool boxes
    • A62C8/005Receptacles or other utensils for water carrying; Bombs filled with extinguishing agents
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00Arrangements for controlling delivery; Arrangements for controlling the spray area

Abstract

A control system applied to fire engines for fire fighting activities of high-rise buildings and skyscrapers is provided. The present invention discloses a control system applied to fire engines for fire fighting activities of high-rise buildings and skyscrapers, including a command control device (2), a launch control device (3), a turret control device (8), and photoelectric detection. Including the device (9), of which the photoelectric detection device (9) includes a mounting case, a power source, a zoom white light camera head, an infrared camera head, a laser distance meter, and an integrated processing unit, and the zoom white light camera head via a screw The infrared camera head is connected to the mounting case via a screw, the laser range finder is also connected to the mounting case via a screw, and the power supply interface of the zoom white light camera head is connected via a lead wire. The power supply interface of the infrared camera head is also connected to the power supply via a lead wire, and the power supply interface of the laser rangefinder is also The data interface of the zoom white light camera head is connected to the general processing unit via the lead wire, and the data interface of the infrared camera head is also connected to the general processing unit via the lead wire, and the laser The data interface of the distance measuring device is also connected to the general processing unit via a lead wire.

Description

  The present invention relates to the field of firefighting, and more particularly to a control system applied to fire engines for fire fighting activities of high-rise buildings and skyscrapers.

  Buildings with a height of 10 or more or 24 meters or more are called high-rise buildings, buildings with a height of 100 meters or more are called high-rise buildings, and firefighting activities of high-rise and high-rise buildings are always in the fire fighting field. It is a difficult task. Fire fighting equipment existing in and outside of Japan has a limit in the height of fire extinguishing, it is difficult to place automatically, and the price is high, so it is difficult to meet the fire fighting requirements of high-rise buildings, especially high-rise buildings.

  Fire extinguishing fire trucks and ladder fire trucks are usually used to extinguish high-rise and skyscrapers. Currently, the highest fire truck in the world is the Bronte fire engine in Finland, which includes a car chassis, a lifting device, and an electrical system. The rising height of the fire engine is 101 meters, and the water supply is divided into a low area, an intermediate area, and a high area, and the maximum water supply height is only about 160 meters. Regarding the operational deployment of the fire engine, the width is about 8 meters, the length is 17.13 meters, the traveling height is 4 meters, the total weight is 60.2 tons, and many buildings are densely packed. It cannot be placed quickly in areas and small towns. In addition, the import price of the fire truck is as high as 22 million yuan, which cannot be borne by many cities in China, and currently only a few cities such as Beijing, Shanghai and Hangzhou are equipped.

  High-rise building fire extinguishing systems have been researched and developed for severe fire-fighting situations in high-rise and skyscrapers in the urban environment of China. Is a special fire extinguishing system that can control fires in high-rise buildings and skyscrapers, and adopts a method of throwing fire bombs at the target fire source. The accuracy of firefighting bombs determines the overall firefighting efficiency of a high-rise building firefighting system. The conventional method for calculating the trajectory of fire extinguishing bullets does not use an accurate trajectory calculation method, but is realized based on the firefighter's visual judgment and actual experience of fire against the situation of the fire site, and performs `` blind firing '' in a specific area, hit accuracy There is a problem that is low. When performing firefighting activities in high-rise and skyscraper buildings, a target (fire source) detection device is installed in some fire engines in order to complete short-range detection in all weather conditions. Since the detection apparatus employs a fixed-focus camera as sighting glasses, the number of fields of view is small, the enlargement proportion cannot be adjusted according to the size of the object, and the infrared image and the white light image cannot be fused. Have

  In addition, in the conventional technology that extinguishes fire using the fire extinguishing bullet method, the fire extinguishing bullet generally adopts a central booster method and sprays a fire extinguishing agent. . Such fire bombs are applied to areas away from densely populated areas such as forests and tanks, and are not applicable to fire extinguishing high-rise buildings and skyscrapers in urban environmental conditions.

Chinese Patent Application No. 10258278

  The inventor of the present invention considers the above-mentioned situation of the prior art and submits the present invention. The main object of the present invention is to provide a control system to be applied to fire engines for fire fighting activities of high-rise buildings and skyscrapers, where there is a limit to the fire-fighting altitude of conventional fire-fighting equipment, and automatic placement is difficult. And to solve the difficult problem of meeting fire fighting requirements of skyscrapers.

  According to an embodiment of the present invention, a control system applied to fire engines for fire fighting activities of high-rise and super-high-rise buildings is provided, command control device (2), launch control device (3), turret control device (8), photoelectric detection Including a mounting case, a power source, a zoom white light camera head, an infrared camera head, a laser distance meter, and an integrated processing unit, and the zoom white light camera head via a screw. The infrared camera head is connected to the mounting case with a screw, the laser rangefinder is connected to the mounting case with a screw, and the power supply interface of the zoom white light camera head is connected to the power supply via a lead wire. The power supply interface of the infrared camera head is also connected to the power supply via the lead wire, and the power supply interface of the laser rangefinder is also connected via the lead wire. The zoom white light camera head data interface is connected to the integrated processing unit via lead wires, the infrared camera head data interface is connected to the integrated processing unit via lead wires, and the laser rangefinder is Connected to the integrated processing unit via leads, of which the integrated processing unit includes a comprehensive scheduling module, data storage module, zoom control module, data compensation module, of which use a zoom white light camera head before extinguishing the fire Then, the photoelectric detection device (9) is aimed at the fire source as a target, and the photoelectric detection device (9) is rotated using the turret so that the target enters the range of the zoom white light camera head. The zoom control module expands the zoom white light camera head. Control the rate and bring the aimed target to the center of the display panel for full display and the data compensation module is stored in the data storage module based on the current magnification of the zoom white light camera head The optical axis deviation amount is read and data compensation is performed. Among them, the angle of the photoelectric detection device (9) is finely adjusted based on the optical axis deviation amount at the current enlargement magnification, and at the current enlargement magnification. The white optical axis of the laser beam coincides with the reference optical axis, the laser distance meter continuously performs laser distance measurement a plurality of times, and the total scheduling module averages the distances measured a plurality of times, and the average value is oblique to the target. Distance, thereby completing the search and measurement of the detection device relative to the target, and providing the distance measurement results to the launch control device (3) and the turret control device (8) The firing control device (3) and the turret control device (8) jointly control the firing of fire extinguishing bullets based on the distance measurement result, and the photoelectric detection device (9) performs fire source detection.

  The embodiment of the present invention adjusts the firing pitch angle and firing speed of fire extinguishing bullets, and calculates shooting parameters (fire extinguishing bullet firing angle calculation) according to the data of ascending ballistics, so that high-rise and high-rise buildings It has the advantages of high fire extinguishing altitude, high accuracy, low cost, and short reaction time, as well as adopting a normal car chassis, fast automatic placement, high-rise and super It is applied to firefighting activities in high-rise buildings, and solves the problem that at this stage, the enlargement proportion cannot be adjusted based on the size of the target, and the fusion of the infrared image and the white light image cannot be completed.

It is the schematic of the structure of the fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the cab of the fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the apparatus storage part of the fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the fire control apparatus of a fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the projection apparatus of the fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the firetruck of the fire engine applied to the fire fighting activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the servo control apparatus of a fire engine applied to the fire extinguishing activity of the high-rise building and skyscraper which concerns on the Example of this invention. It is the schematic of the structure of the photoelectric detection apparatus of the fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concerns on the Example of this invention. It is the schematic of the functional module of the comprehensive process part of the photoelectric detection apparatus of a fire engine applied to the fire extinguishing activity of the high-rise building and skyscraper which concerns on the Example of this invention. It is a flowchart of the target detection (position detection) operation | movement of the photoelectric detection apparatus of a fire engine applied to the fire extinguishing activity of the high-rise building and skyscraper which concerns on the Example of this invention. It is the schematic of the assembly shelf and turret system of the firetruck of a fire engine applied to the fire extinguishing activity of the high-rise building and the skyscraper which concern on the Example of this invention. It is a flowchart of the photoelectric detection apparatus operation | movement of a fire engine applied to the fire extinguishing activity of the high-rise building and skyscraper which concerns on the Example of this invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic view of the structure of a fire engine applied to extinguishing high-rise and skyscrapers according to an embodiment of the present invention. As shown in FIG. 1, a fire engine applied to extinguishing high-rise and skyscrapers includes a vehicle body chassis 1, a device storage unit 4, a launching device 5, a projection device 6, and a fire extinguishing bullet 7.

  The fire engine control system includes a command control device 2, a launch control device 3, a turret control device 8, and a photoelectric detection device 9.

  Among them, the command control device 2 and the launch control device 3 are placed in the front passenger seat of the cab of the vehicle body chassis 1, and the device storage unit 4 is placed behind the cab and fixed to the vehicle body chassis 1 with bolts. The device 5 is placed and fixed on the body chassis 1, the projection device 6 is placed and fixed on the launch device 5, the fire extinguisher 7 is placed in the projection device 6, and the turret control device 8 is placed on the body chassis and launch device. It is distributed and used to complete the leveling of the vehicle body and to control the operation of the launcher. The photoelectric detector 9 is placed below the launcher 5 and fixed by screwing.

  The vehicle body chassis 1 is composed of a conventional modified chassis and a subframe. Among them, the sub-frame is an important part that can realize functions such as the connection between the chassis and other related products such as the device storage unit and launching device, and the versatility and portability of the device attached to the fire engine.

  The command control device 2 includes a display / operation console 2-1, an information processing device 2-2, and a communication device 2-3. Among them, the display operation table 2-1 is made of a metal plate and is attached to the passenger seat. The display operation table 2-1 is provided with a launch switch, a monitor, operation buttons, an instruction lamp, a control handle, a panoramic camera, and the like. The information processing device 2-2 is connected to the display / operation console 2-1 and the communication device 2-3. The communication device 2-3 is used for communication communication between the operator and the fire alarm (119) command control center. The information processor 2-2 includes functional modules such as a general management control module, a trajectory calculation module, and a communication module.

  The firing control device 3 includes a firing control execution component 3-1 and a fire extinguisher simulator 3-2. Among them, the firing control execution component 3-1 is a control device that switches the control command and outputs it to the launching device 5, which receives the command from the information processor and completes the fire control mission of fire extinguishing bullets. The fire extinguisher simulator 3-2 is used in the training stage of the fire extinguisher, and simulates the position signal of the fire extinguisher and the signal from the fire shelf.

The inside of the device storage unit 4 includes a generator group 4-1, a power supply / distribution cabinet 4-2, a servo control device 4-3, and the like, and a communication antenna is attached to the outside. The generator group is composed of a diesel engine, a generator, a main body bracket, a storage battery, and the like, and the total power supply is 7.3 kW or more. Among them, the diesel engine is the power source of the generator group, the generator is an energy conversion device, converts mechanical energy output from the diesel engine into electrical energy, and the storage battery provides DC control power to the generator group In use, the generator group has a single fuel tank. The power supply / distribution device is fixed to the right side of the device storage unit, and mainly completes the switching operation of the diesel engine and the commercial power source, the display of electrical parameters, the power distribution and protection functions.

  The launcher 5 includes a launch turret 5-1, a launch bracket 5-2, and a module assembly shelf 5-3, and a cable is laid at the center of the structure of the launch turret 5-1. The firing bracket 5-2 is used to support the module assembly shelf and quickly fills the module assembly shelf 5-3 and has a directional effect upon firing. The mechanism not only realizes locking and unlocking of the module assembly shelf 5-3 but also determines an initial firing direction in accordance with the legs of the module assembly shelf 5-3.

The projection device 6 mainly includes a projection cylinder, a power unit, a balancer, and the like. A fire bomb, power unit, and balancer are placed inside the projection tube. The projection device adopts “finite space” balanced launch technology, has no smoke, no light, no voice, and no reaction.
The fire extinguisher 7 includes a shell 7-4, a fuze 7-6, an igniter 7-3, a fire extinguisher 7-9, a main charge 7-10, a spoiler speed reducing part 7-1, a combustion chamber 7-8, and an ammunition stopper plate 7. -2, piston 7-7, and cowling 7-5.

  The shell 7-4, the spoiler speed reducing part 7-1 and the piston 7-7 are made of a light metal material, the shell 7-4 is cylindrical, and the spoiler speed reducing part 7-1 is placed at the bottom of the shell 7-4 and is screwed. Is fixed to the shell 7-4, the ammunition stopper plate 7-2 is placed above the spoiler speed reducing portion 7-1, and the combustion chamber 7-8 is placed above the ammunition stopper plate 7-2. -2 is fixed by screwing, and the combustion chamber 7-8 and the shell 7-4 are fixed by screws. The piston 7-7 is placed on the combustion chamber 7-8, the outer diameter of the piston 7-7 matches the inner diameter of the shell 7-4, and there is a through hole in the center of the piston 7-7. -3 is placed in the through hole of the piston 7-7 and fixed to the combustion chamber 7-8 with a screw, and the main charge 7-10 is placed in the combustion chamber 7-8. Fire extinguisher 7-9 is placed in the upper cavity of piston 7-7 and fills the entire cavity, cowling 7-5 is placed on top of shell 7-4 and secured to shell 7-4 with a pin, The surface of the cowling 7-5 has a spray hole, and the fuze 7-6 is placed on the cowling 7-5 and fixed with screws.

  When the fire bomb 7 operates, if the fuse 7-6 detects that the fire bomb is 5-10 meters away from the source of the fire, it sends an ignition signal to the igniter 7-3, which ignites the combustion chamber. The main charge 7-10 at 7-8 is ignited, a high pressure is generated by the combustion of the main charge 7-10, the high pressure pushes the movement of the piston 7-7 in the shell 7-4, and the extinguishing agent 7-9 is By pushing, the pin connecting the cowling 7-5 and the shell 7-4 is cut, and the fire extinguishing agent 7-9 continues to push the cowling 7-5 to move forward, and the cowling 7-5 moves to the tip of the shell 7-4. When the pressure reaches the brake, the spray hole is already exposed to the air, and at this time, the piston 7-7 continues to push in the extinguishing agent 7-9 to move forward, and the extinguishing agent 7-9 is ejected from the spray hole. It jumps into the fire and plays a fire extinguishing effect. In the process of splattering the fire bomb 7, the spoiler speed reducing unit 7-1 opens the parachute and decelerates the fire bomb 7, and the fire bomb 7 penetrates the glass wall to the back of the building and performs fire extinguishing.

The turret control device 8 includes a turret servo device and a vehicle body leveling device. The turret servo device includes components such as a control computer, servo control module, azimuth motor, pitch electric cylinder, azimuth readout module, pitch readout module, azimuth servo mechanism, rotary bearing, etc. Both the readout module and the azimuth servo structure mesh with the external teeth of the rotary bearing.

  The car body leveling device selects the servo electric cylinder and performs leveling. The support legs of the four servo electric cylinders are each attached to the subframe of the vehicle chassis, and the servo electric cylinders of each support leg are driven by a single motor. The The leveling device can be withdrawn manually if it is not controlled by the information processor. The leveling device includes a leveling execution mechanism, a leveling control module, an angle horizontal measurement module, and a leveling control module. Among them, four power drivers and a control computer are integrated in a leveling control cabinet, and the leveling control cabinet is installed in the device control room. The angle horizontal measuring module selects the tilt angle sensor as the leveling detection element of the leveling device. In the leveling process of a fire extinguisher, two level sensors feed back the level of the vehicle body. One is the main horizontal sensor, and the horizontal and vertical level of the vehicle body is attached to the mounting surface of the horizontal beam of the chassis rotating trunnion, based on the frequency indicated by the horizontal sensor, and the other is the sub horizontal It is a sensor and is attached to the cross beam of the front leveling cylinder. In the leveling process, the lateral horizontality in the vehicle head direction is fed back, and it is possible to avoid the phenomenon that the head of the fire extinguisher that can be placed in the leveling process tilts.

  FIG. 8 is a schematic view of a photoelectric detector 9 for a fire truck applied to fire extinguishing activities of high-rise and skyscrapers according to an embodiment of the present invention. As shown in FIG. 8, the photoelectric detection device 9 includes a mounting case, a power source, a zoom white light camera head, an infrared camera head, a laser range finder, and an overall processing unit. FIG. 9 is a schematic diagram of functional modules of a general processing unit of a photoelectric detection device for a fire truck applied to fire extinguishing activities of high-rise and skyscrapers according to an embodiment of the present invention. As shown in FIG. 9, the overall processing unit includes an overall scheduling module, a data storage module, a function self-detection module, a zoom control module, a data compensation module, an image fusion module, an image comparison module, and an angle calculation module.

  If a zoom white light camera head is used, the focal length can be adjusted according to the distance and size of the fire source during the search process, and the position of the fire source can be accurately determined.

  The zoom white light camera head is connected to the mounting case via screws, the infrared camera head is also connected to the mounting case via screws, and the laser rangefinder is also connected to the mounting case via screws. The supply interface is connected to the power supply via the lead wire, the power supply interface of the infrared camera head is also connected to the power supply via the lead wire, the power supply interface of the laser range finder is also connected to the power supply via the lead wire, The data interface of the zoom white light camera head is connected to the general processing unit via the lead wire, the data interface of the infrared camera head is also connected to the general processing unit via the lead wire, and the data interface of the laser range finder is also connected to the lead wire It is connected to the general processing unit via

Next, an operation flow of target detection of the photoelectric detection device 9 will be described with reference to FIG.
FIG. 10 is an operation flowchart of target detection (position detection) of the photoelectric detection device 9 of a fire truck applied to fire extinguishing activities of high-rise and skyscrapers according to an embodiment of the present invention. As shown in FIG. 10, target detection (fire point aiming) of the photoelectric detection device mainly includes the following steps.

Step 1 (optional) calibrates the white light optical axis, the infrared optical axis, and the laser optical axis.
Before using the photoelectric detection device 9, it may be necessary to calibrate the optical axis of white light, the optical axis of infrared light and the optical axis of the laser (for example, without using the photoelectric detection device 9 for a long time, When the current reference optical axis does not coincide with the above three optical axes), that is, calibration of the infrared optical axis, laser optical axis, and white light optical axis at the maximum magnification (coincidence calibration) Adjust the mounting axis of the zoom white light camera head, infrared camera head, and laser rangefinder so that the optical axis of white light at the maximum magnification, the optical axis of infrared light and the laser light axis is the reference of the mounting case It is as certain aspects ± 20 within the, at this time, is considered to meet the requirements of three optical axes of the match with each other. After the adjustment is completed, the zoom white light camera head, the infrared camera head, and the laser rangefinder mounting bracket are fixed to the mounting case, and the optical axes that coincide with each other are used as the reference optical axes.

Step 2 (optional) is detection of deviation of the white light zoom optical axis.
Before using the photoelectric detector 9, it may be necessary to detect the deviation of the optical axis of the white light zoom (for example, when the photoelectric detector 9 has not been used for a long period of time), that is, the minimum magnification. The zoom is adjusted in the order from the maximum magnification to the maximum magnification, and the magnification of the white light of the zoom white light camera head (reference optical axis) of the zoom white light camera head with a different magnification relative to the optical axis of the white light of the maximum magnification (for example, A deviation angle of the current optical axis with respect to the three directions of the reference optical axis) is detected, and the deviation amount is stored in the data storage module.

Step 3 is energization self-detection and port arrangement (device initialization).
The photoelectric detection device 9 activates the power source, energizes the device, and energizes the zoom white light camera head, the infrared camera head, the laser range finder, and the general processing unit simultaneously. The function self-detection module performs self-detection and initialization for the zoom white light camera head, the infrared camera head, the laser range finder, and the integrated processing module, and places the port communication state after the initialization is completed.

Step 4 is target aiming and zoom control.
Using the zoom white light camera head, the photoelectric detection device 9 is aimed at the target (fire source). Specifically, the photoelectric detection device 9 is rotated using a turret so that the target is in the range of the zoom white light camera head (displayed on the display panel of the system), and the zoom control module is operated by the zoom white light camera. Control the magnification of the head to bring the target to be aimed at the center of the display panel (the center point of the target distance measurement image is aimed at the target point), and the height is the height of the entire screen on the display panel. 3/4 (other ratios may be used, as long as they are completely displayed and meet the definition requirement).

Step 5 performs optical axis compensation.
The data compensation module reads the amount of optical axis deviation in the data storage module based on the current magnification of the zoom white light camera head (magnification after zooming and zoom control), and performs data compensation. That is, the angle of the photoelectric detector 9 is finely adjusted based on the optical axis deviation amount at the current magnification, and the optical axis of white light at the current magnification is made coincident with the reference optical axis (ie, the target The new center point after compensation of the distance measurement image data is aimed at the target point).

Step 6 (optional) is image fusion.
Or, if the target image is acquired via the infrared camera head (the target is placed in the range of the infrared camera head), the total scheduling module will aim the zoom white light camera head and the image after zoom control, and the infrared camera head After reading the image, the image fusion module performs an image fusion process. In other words, the image of the infrared camera head is enlarged or reduced to an enlargement magnification corresponding to the image after the aiming of the zoom white light camera head and the zoom control (the size of the target is matched in the two images and simultaneously brought to the center) ) Also, the number of horizontal and vertical pixels of the two images to be merged according to the cropping form of the image is matched, and the two images are merged (this can be realized by various methods, for example, the same pixel monochrome gradation is averaged) Etc.) to obtain an image after fusing.

Step 7 (optional) performs image comparison and selection.
The image comparison module is an image of a white light camera head, an image of an infrared camera head (when a target image is acquired by an infrared camera head, the corresponding enlargement or reduction is performed), or the fused image (a target by an infrared camera head). (For example, image sharpness comparison can be realized using an image processing algorithm that protrudes an edge through an image filter, and is positioned at each edge of the image.) The overall sharpness of the image is determined by the gradient reflected by the pixels to be determined), and the image necessary for the selection of the target distance measurement is determined.

Step 8, laser distance measurement The laser distance meter performs laser distance measurement several times in succession (eg 5 times), after which the integrated scheduling module removes the maximum and minimum values from the 5 measured distances, intermediate Three data as values are averaged, and the average value is set as a target diagonal distance. Thereby, the detection device completes the search and measurement for the target. The laser rangefinder provides the distance measurement result to the launch control device (3) and the turret control device (8), and the launch control device (3) and the turret control device (8) jointly operate the fire bomb based on the distance measurement result. Control the launch.
As shown in FIG. 9, the angle calculation module calculates the trajectory calculation angle of the fire bomb. The data compensation module is also used to record the ballistic offset and perform data compensation.

  Next, an operation flow for calculating the fireball trajectory for target detection of the photoelectric detection device 9 will be described with reference to FIG.

FIG. 12 is an operational flowchart of fire extinguishing trajectory calculation of a photoelectric detection device for a fire truck applied to fire extinguishing activities of high-rise and skyscrapers according to an embodiment of the present invention. Specifically, after the laser distance measurement is completed, the photoelectric detection device acquires the oblique line distance L from the target fire source to the fire extinguishing bullet, and at the same time, the turret system sends a pitch angle θ and direction to the turret to the general scheduling module. The angle φ is transmitted (for example, the azimuth angle φ at the center of the turret may be set to 0), and the photoelectric detection device calculates a fire extinguishing bullet trajectory and obtains information on the firing angle of the extinguishing bullet.
That is, the calculation module calculates the oblique line distance L, the target pitch angle θ, and the target azimuth angle φ.
Based on, calculate the firing pitch angle Ψ f and the firing azimuth angle φ f , the bullet launch angle is the angle Ψ f , the launch azimuth angle is φ f (if the error is allowed, the launch azimuth is the turret center orientation You can hit the target at the corner (for example, you can take 0).

The specific steps for calculating the fireball trajectory are as follows.
Step (optional) 1, the positions of the fire bombs and the axes are slightly different from the positions of the fire bombs at different shelf positions (for example, the 24 frame positions shown in FIG. 11). Deviation, vertical deviation, travel direction (azimuth) deviation angle and pitch deviation angle are determined, and four deviation data are recorded in the data compensation module.

Step 2, the angle calculation module calculates the altitude information for the fire bomb and the horizontal distance from the target to the launch point based on the diagonal distance and pitch angle of the target. The calculation formula is as follows.
h0 = L × sin θ
d = L × cos θ
In the formula, θ is the pitch angle of the fire bomb assembly shelf, L is the diagonal distance from the fire bomb assembly shelf to the target, h0 is the altitude information from the target fire source to the fire bomb, and d is the launch point from the target The horizontal distance up to.

Step 3, the angle calculation module calculates the firing angle of the fire bomb.
The equation of dynamics and kinematics of the angle calculation module is as follows,
Dynamic differential equation

Kinematic differential equations

Using the above kinematics and dynamics differential equations, the increase in the main flight parameters of the digestive ammunition is calculated under the action of force and torque at a specific time. In the above kinematics and dynamics differential equations, the input (known amount) is the flight parameters of the fire bomb at a specific time, and the velocity, ballistic tilt angle, ballistic deflection angle, yaw angular velocity, pitch angular velocity, pitch angle, yaw Angles, roll angles and fire bombs include position coordinates X, Y, Z in the launch coordinate system. The output is an increase (dx / dt) of the 11 parameters at this time. The main input / output parameters are shown in the table below.

Among them, m is the mass of the ammunition body, g is the gravitational acceleration, q is dynamic pressure, C A is the axial force coefficient, S M is the reference area, C N is the normal force coefficient Yes , φ ′ is the composite angle of attack, J Y1 is the moment of inertia around the Y axis of the bullet, J Z1 is the moment of inertia around the Z axis of the bullet, and C ZZ1 = C ZZ1 is the braking torque coefficient , L is the reference length of all bullets, and Δl is the length from the center of gravity to the center of pressure.
The target pitch angle θ, the speed at which the cylinder is released at the time of launch (constant, for example, 160 m / sec), and the initial value of the angular speed (for example, 0) are used as initial conditions for calculating the differential equation, and the air parameters (constant, Combining mainly axial force coefficient, normal force coefficient, pressure center coefficient, braking torque coefficient according to Mach number and angle of attack), and using the fourth-order Runge-Kutta numerical method of ordinary differential equations, Perform an association calculation on all ballistic parameters (ie, ballistic trajectories), ie u (t), v (t), w (t), ω Y1 (t), ω Z1 (t), X (t), Y (t), Z (t), φ (t), ψ (t), and γ (t) are calculated, of which t is the discretization time. After calculating all the ballistic parameters at the specific trajectory launch pitch angle φ, the launch height H reaching d at the specific trajectory launch pitch angle φ (initial value φ0 = θ) is calculated.

The formula (12) is used to determine the magnitude relationship between H and the target height h0. When formula (12) is satisfied, the repetition is stopped, and the current pitch angle φk is the launch angle. If formula (12) is not satisfied, launch pitch angle is updated using formula (13), and all ballistic parameters and launch height H k + 1 are calculated again using the dynamics and kinematic differential equations, , K is the current number of repetitions, and is performed until the difference between the firing height H k and the target height h 0 is smaller than 0.01 m, and the firing angle φk at this time is the final fire fire bullet firing angle.
That is, the repeated initial pitch angle φ0 is the target pitch angle θ, and then the ballistic height H and the target height h0 at the target X-axis distance (that is, the horizontal distance d) are compared to continuously increase the firing pitch. Correct the corners to get the final hit result on the target.

Step (optional) 4, data compensation module performs error compensation.
All ballistic parameters are determined by calculating the detection device as its position and orientation reference, and the command control computer obtains four displacement data of position and angle due to the difference in the ballistic position of the fire extinguishing bullet due to compensation. Remove, thereby determining the pitch angle required for firing in a specific unit.
Up to this point, the trajectory calculation of the high-rise building fire bomb has been completed, and the fire bomb can be fired based on the calculated firing angle.

Finally, taking an actual application as an example, the operation flow of a fire engine applied to fire extinguishing activities of high-rise and high-rise buildings according to an embodiment of the present invention will be described, which includes the following steps.
Step 1, the worker is seated, starts the fire engine and departs.
1) After receiving the fire alarm, the driver and the operator sit in the driver seat and the passenger seat, respectively.
2) The driver starts the fire engine, opens the reverse video device, and faces the fire.
3) The operator detects the workbench and ensures that the action button is in the initial position.

Step 2, the generator group is activated, and each device is energized to perform self-detection.
1) The operator turns the “machine group activation” key to the “START” position to activate the generator group, then releases the key (the key automatically returns to the “ON” position), and the operation is stable. After that, the “AC instruction” lamp is turned on.
2) The operator presses the “total power supply” button to output power to the generator group.
3) The operator presses the “Power Supply” button, the information processor is energized first, the system is activated, performs self-detection, and after the information processor becomes normal, the detection device and servo automatically Energize in the order of device and leveling device;
4) The operator checks the “device status” column on the display panel and confirms that the energization self-detection status of each device is “green”.

Step 3, select the mode of operation and park at the appropriate location.
1) The operator rotates the “operation mode” knob of the workbench while driving to select “fire fighting” or “training” operation mode.
2) The operator observes the reverse image based on the target height at the fire site, and the driver observes the reverse video, and temporarily parks the fire extinguisher near the fire place.
3) The operator inspects the state of the “Leveling Control” field, and if the slope of the parking position of the fire extinguisher exceeds ± 1 °, the lamp in the “Leveling Control” field flashes “red and green” alternately, driving The person selects and parks a new place before the indicator lamp in the “leveling control” column stops flashing, and the “return” indicator lamp turns green;
4) The driver parks the fire extinguisher, gets out of the car, observes the situation within the insurance distance of the fire extinguisher, and immediately interacts with the operator.

Step 4, deploy leveling and aim at the fire target.
1) The operator turns the “leveling control” knob of the workbench to the “deployment” position, the fire extinguisher automatically leveles and deploys, and the “deployment” indicator lamp flashes during the leveling process, and the leveling is completed. Thereafter, the “deployment” instruction lamp on the work table is turned on, and the “deployment” lamp in the “leveling control” column on the outer surface of the display becomes “green”.
2) Rotate and unlock the launch turret.
3) The operator controls the handle of the work table, observes the image on the display panel, switches to “imaging mode” (displays the framing image of the white light camera head on the display panel), and controls the rotation of the launch turret The “+” on the display panel is aimed at the fire target, and the “current angle” field at that time displays the current position angle of the launch turret.

Step 5, measure the target position and calculate the firing parameters (ie, launch angle) 1) If the target distance can be measured accurately using a direct laser rangefinder, the operator controls the buttons on the handle The fire target position parameter is measured, and the “distance” and “height” data of the target are displayed in the “target position” column.
2) If the target distance cannot be measured accurately using a direct laser rangefinder (ie, hitting B aiming at A), if the actual combustion point is point B, point B will meet the accuracy requirements of the laser rangefinder. If not, measure the distance aiming at point A near point B, and convert the distance data of point A to point B distance data based on the change in position between points A and B. Calculate shooting parameters.
3) The command control device automatically calculates the shooting parameters based on the target data, and at the same time, determines whether the calculation result is effective (whether the azimuth angle and pitch angle are within a limited range). The effective calculation result is displayed in the “fire angle” field.

Step 6: Select launch mode and unlock launch insurance.
1) The operator selects the “fire mode”, “manual” or “automatic” mode of the workbench.
2) The operator rotates the “fire insurance” key on the workbench to the “unlock” position, and starts recording video.
3) The operator maintains contact with the driver outside the vehicle and confirms that no person has entered the fire insurance area.

Step 7: Rotate the launch turret and fire the fire extinguisher 1) When the operator selects “Auto” in “Launch Mode”, the “Launch Button” indicator lamp with launch conditions will light up, The information processing machine automatically controls the firing turret to rotate to the target firing angle based on the calculation result corresponding to the fire extinguishing bullet, and presses the “fire button” corresponding to the fire extinguishing bullet to be fired. The “Launch Permitted” indicator lamp lights and fires a fire bullet.
2) When the operator selects “Manual” for “Launch mode”, the “Launch permission” indicator lamp goes out first, and the operator first controls the handle of the workbench to rotate the launch turret to the radiation angle. That is, the numerical value in the “current angle” field and the numerical value in the “firing angle” field are within a certain error range. At this time, the “firing permission” instruction lamp is lit, and the “firing button” instruction lamp having the firing condition is Lights up and the operator presses the “fire button” to fire a fire extinguisher.

Step 8. Fire a fire bomb.
1) The launch control device issues an ignition sequence signal.
2) The ignition sequence signal is transmitted by the module cable box to the launcher igniter.
3) The projectile ammunition of the launch tube is ignited, and the fire extinguisher is fired from the tube at a constant initial speed.

Step 9, start timing of self-destruction of delayed gunpowder.
1) Delayed gunpowder starts self-destructive delay by the action of fire impact overload. After the delay time is reached, the delayed gunpowder controls the simultaneous operation of opening the parachute of the fire bullet and spraying the fire extinguisher, and the fire extinguisher self-destructs.

Step 10 is a fuze activation operation.
Skyscraper fires are mainly divided into three situations: indoor fires, frontal fires, and fires in the walls. The main text focuses on fire fighting and rescue work of indoor fires, and explains the operation flow of fuzes.
Among them, step 10 fuze activation is divided into two steps:

Step 10-1: Unlock the fuze insurance and activate the function.
1) Detecting the fuze approaching the target.
2) Unlock fuze machine insurance.
3) Due to the effect of fire impact overload, the machine insurance is unlocked inertially, and the ignition circuit is switched from the short circuit state to the off state.
4) Unlock the fuze long-distance insurance unlocking.
5) After the fuze delay time is fixed, the long distance insurance unlocking (electrical insurance) is unlocked and the fuze is fired.
6) Timing of self-destruction of the fuze begins.
7) The fuze circuit operates to start a self-destruction delay, and the fuze, delayed gunpowder and the main charge of the fire bomb are connected in parallel to improve the reliability of the fire bomb self-destruction. After the delay time is reached, the fuze controls the simultaneous operation of opening the parachute of the fire bomb and spraying the fire extinguisher, and the fire bomb self-destructs.

Step 10-2, trigger the fuze.
When the fuze or delay gunpowder emits an ignition signal, and the fire extinguishing bomb receives the ignition signal, it simultaneously performs spraying of the extinguishing agent and deceleration by deployment of the parachute.
The installation of each function of the fuze is as follows.
1) Fuze mainly applies the proximity explosion trigger function.
2) The fuze contact explosion function shall be replenished after the explosive proximity function expires, and immediately after the fire bomb arrives at the fire area, fire extinguishing agent is immediately sprayed to ensure that the fire extinguishes.
3) The fusible self-destructive function is to fire a fire signal forcibly when the fire bomb is biased from the trajectory and cannot meet the proximity explosion and contact explosion trigger conditions, or when the proximity explosion and contact explosion expire simultaneously. The bullets carry the explosives and land freely, avoiding the danger of recovery due to damage to personnel and equipment, or leaving the explosives on the fire extinguishers.

Step 11 is the operation of the fire bomb.
1) A fire extinguisher's decelerating parachute is equipped with a decelerating condition by completing air filling before the fire bullet enters the room, and before the fire extinguishing bullet enters the room, the decelerating parachute may affect the trajectory of the fire bullet. Can not. 2) After the fire bomb enters the room, the decelerating parachute decelerates the fire bomb so that it does not disassemble after the fire bomb collides with the wall surface so that the wall body is not penetrated.
3) The fire extinguishing bomb continuously disperses the extinguishing agent during the operation of the deceleration parachute, and the air filling time of the decelerating parachute accounts for 30% or less of the total time with the extinguishing agent spraying time of the extinguishing bullet.

Step 12, trigger delayed gunpowder self-destruction.
1) The self-destructive function of delayed gunpowder is the same as the self-destructive function of fuze, but both are attached individually and there is no interference with each other. Its purpose is to improve the safety of the use of fire bombs in case of abnormal operation. At the same time, it can be used as a supplementary fire extinguishing function after the fire bomb enters the room and the fuze expires.
2) After fire extinguishing bullets are fired, an overload of 3000 g occurs, and the delayed gunpowder automatically starts timing the trigger, delays the delayed gunpowder for 8 seconds, and then forcibly issues a self-destructive ignition signal.
In the process of self-destruction of delayed gunpowder, the self-destruction delay of delayed gunpowder automatically starts counting 8s after fire extinguishing bullets are fired.
After the timing of the self-destructive delay of the delayed explosive is over, a self-destructive ignition signal is automatically and forcibly issued.
After the fire bomb receives the ignition signal, it simultaneously triggers the operation of the effective load segment and the safety deceleration segment, the effective load segment sprays the extinguishing agent, and the safety deceleration segment opens the parachute.

Step 13, withdraw system and turn off the device 1) The operator rotates the “Launch Insurance” key on the workbench to the “Lock” position, the “Launch Permit” lamp is turned off and video recording stops .
2) The operator rotates the “leveling control” knob on the workbench to the “return” position, the system begins to retract, and the system automatically returns the firing turret to the horizontal position (azimuth angle is 0 °, pitch The angle is 0 °), and then the four leveling stands are returned to their initial positions, the “return” lamp flashes, and after repositioning, the “return” lamp is lit.
3) The operator turns the “operation mode” knob of the workbench to the “training” state.
4) The operator presses the “device power supply” button on the workbench, the information processor turns off the subsystem device first, and then turns off the information processor.
5) The operator presses the “total power supply” button on the work table to turn off the power supply of the system.
6) The operator rotates the “machine group activation” key on the workbench to the “OFF” position to turn off the generator group, and the “AC instruction lamp” goes out.

Step 14, the vehicle returns and extinguishes fire, and the worker gets off the vehicle.
1) The driver gets on the driver's seat of the vehicle, activates a fire extinguisher and returns to the garrison.
2) The driver closes the reverse video device and turns off the fire engine.
3) The driver and operator get off the vehicle.

1, body chassis 2, command control device 3, launch control device 4, device storage 5, launch device 6, projection device 7, fire extinguishing bullet 8, turret control device 9, photoelectric detection device 2-1, display operation table 2-2 Information processor 2-3 Communication device 3-1: Launch control execution component 3-2 Fire bomb simulator 4-1 Generator group 4-2: Power supply / distribution cabinet 4-3 Servo control device 5-1 Launch turret 5-2 Launch shelf 5-3 Module assembly shelf 7-1 Spoiler deceleration part 7-2 Ammunition stop plate 7-3 Igniter 7-4 Shell 7-5 Cowling 7-6 Fuze 7-7 Piston 7-8 Combustion chamber 7-9 Extinguishing media 7-10 main charge

Claims (10)

  1. Concerning a control system applied to fire trucks for fire fighting activities of high-rise and skyscrapers, including launch control device (3), turret control device (8), photoelectric detection device (9),
    Among them, the photoelectric detection device (9) includes a mounting case, a power source, a zoom white light camera head, an infrared camera head, a laser distance meter, and an overall processing unit.
    The zoom white light camera head is connected to the mounting case via a screw, the infrared camera head is also connected to the mounting case via a screw, and the laser rangefinder is also connected to the mounting case via a screw. The power supply interface is connected to the power supply via the lead wire, the power supply interface of the infrared camera head is also connected to the power supply via the lead wire, and the power supply interface of the laser rangefinder is also connected to the power supply via the lead wire The data interface of the zoom white light camera head is connected to the total processing unit via the lead wire, the data interface of the infrared camera head is also connected to the total processing unit via the lead wire, and the data interface of the laser range finder is also Connected to the general processing section via lead wires,
    Among them, the overall processing unit includes an overall scheduling module, a data storage module, a zoom control module, and a data compensation module,
    Before doing fire fighting,
    Use the zoom white light camera head to align the aim of the photoelectric detector (9) with the target fire, rotate the photoelectric detector (9) using the turret, and the target will zoom white light The zoom control module controls the magnification of the zoom white light camera head so that it is within the range of the camera head and displayed on the display panel, and the aiming target is brought to the center of the display panel to display the whole. Steps,
    The data compensation module reads the optical axis deviation amount in the data storage module based on the current magnification of the zoom white light camera head, performs data compensation, and among them, based on the optical axis deviation amount at the current magnification Finely adjusting the angle of the photoelectric detector (9) to match the optical axis of the white light at the current magnification with the reference optical axis;
    The laser range finder continuously performs laser distance measurement multiple times, the total scheduling module averages the distances measured multiple times, and the average value is used as the target diagonal distance to search the detection device for the target. And the distance measurement result is provided to the launch control device (3) and the turret control device (8). The launch control device (3) and the turret control device (8) Control system applied to fire trucks for fire extinguishing activities in high-rise and high-rise buildings, characterized in that fire source detection is performed using a photoelectric detection device (9) in the step of jointly controlling the launch of the fire.
  2. In the control system applied to the fire engine for fire extinguishing activities of the high-rise building and the skyscraper according to claim 1, before performing the fire source detection with the photoelectric detection device (9),
    If the current reference optical axis does not match the above three optical axes, standard calibration of the optical axis of the zoom white light camera head, the optical axis of the infrared camera head, and the optical axis of the laser rangefinder is performed, and the infrared camera head And adjusting the optical axis of the laser rangefinder and the optical axis of the zoom white light camera head at the maximum magnification to be the same, and using the optical axes that coincide with each other as a reference optical axis after calibration Control system applied to fire trucks for fire fighting activities of high-rise and skyscrapers characterized by
  3.   3. The control system applied to fire engines for fire extinguishing activities of high-rise and high-rise buildings according to claim 2, further comprising a deviation of the white light zoom optical axis before detecting the fire source by the photoelectric detector (9). Performing zoom adjustment in order from the minimum magnification to the maximum magnification, detecting the amount of deviation of the optical axis of the white light of the zoom white light camera head with a different magnification relative to the reference optical axis, and A control system applied to fire engines for fire fighting activities of high-rise and high-rise buildings, wherein the step of storing the deviation amount in a data storage module is performed.
  4. In the control system applied to fire engines for fire extinguishing activities of high-rise and skyscrapers according to claim 3, the integrated processing unit further includes a function self-detection module, before performing fire source detection,
    Furthermore, using the photoelectric detection device (9), the power supply is started, the device is energized, and the zoom white light camera head, the infrared camera head, the laser range finder, and the general processing unit are energized simultaneously. The zoom white light camera head, the infrared camera head, the laser range finder, and the integrated processing module perform self-detection and initialization, and after the initialization is completed, perform a step of arranging communication states of the ports. Control system applied to fire engines for fire fighting activities in high-rise and skyscraper buildings.
  5. In the control system applied to the fire engine for fire extinguishing activity of the high-rise building and the skyscraper according to claim 2, the photoelectric detection device (9) further includes an image fusion module, and the fire detection of the photoelectric detection device (9) Further, when acquiring the target image by the infrared camera head, the comprehensive scheduling module reads the image after the aiming and zoom control of the zoom white light camera head, and the image of the infrared camera head;
    Then, the image fusion module performs image fusion processing, and among them, the image of the infrared camera head is enlarged or reduced to an enlargement magnification corresponding to the aim of the zoom white light camera head and the image after zoom control, and the image cropping mode Matching the number of horizontal and vertical pixels of the two images fused together, and fusing the two images to obtain a fused image,
    Among them, the photoelectric detection device (9) further includes an image comparison module, and the fire detection of the photoelectric detection device (9) is further performed when the image comparison module further includes a white light camera head image, an infrared camera head image, and / or Or comparing the sharpness of the image after the fusion, and determining the image having the highest sharpness so as to obtain an image necessary for measuring the target distance. A control system applied to fire engines for fire fighting activities.
  6. The control system applied to the fire engine for fire extinguishing activity of the high-rise building and the skyscraper according to claim 1, wherein the fire truck is a vehicle body chassis (1), a device storage part (4), a launching device (5), a projection device ( 6), including fire extinguishing bomb (7), of which body chassis (1) is composed of a conventional modified chassis and subframe,
    The fire engine further includes a command control device (2) provided with a display operation table (2-1), an information processing device (2-2), and a communication device (2-3),
    The display operation table (2-1) can be manufactured from a metal plate and is attached to the passenger seat. The display operation table (2-1) includes a launch insurance switch, a monitor, operation buttons, an instruction lamp, a control handle, A panoramic camera or the like is installed, and the information processing device (2-2) is connected to the display operation console (2-1) and the communication device (2-3).
    The communication device (2-3) is used for communication between the operator and the fire alarm command control center,
    The information processing machine (2-2) includes a general management control module, a trajectory calculation module, and a communication module, and is a control system applied to a fire engine for fire fighting activities of high-rise and high-rise buildings.
  7. The control system applied to fire engines for fire fighting activities of high-rise and skyscrapers according to claim 6, wherein the launch control device (3) includes a launch control execution component (3-1) and a fire simulator (3-2). Among them, the firing control execution component (3-1) transmits a control command to the launching device (5), and the launching device (5) receives the command from the information processing machine, and also controls the launching of the fire bullet. Completing the task, the fire bomb simulator (3-2) is used during the training phase of the fire fighter, and is used to simulate the fire bomb location signal and the fire bomb away-shelf signal,
    Among them, the inside of the device storage unit (4) includes the generator group (4-1), the power supply / distribution cabinet (4-2), and the servo control device (4-3), and is outside the device storage unit (4). Is equipped with a communication antenna,
    Among them, the launcher (5) consists of a launch turret (5-1), launch bracket (5-2), and module assembly shelf (5-3). Cables are laid,
    The launch bracket (5-2) is used to support the module assembly shelf, and has a high-speed filling and launch direction effect on the module assembly shelf (5-3). In addition to realizing locking and unlocking of the shelf (5-3), the initial firing direction has been determined according to the legs of the module assembly shelf (5-3),
    Among them, the projection device (6) includes a projection cylinder, a power unit, and a balancer, and a fire extinguishing bomb, a power unit and a balancer are arranged inside the projection cylinder, and fire fighting for fire fighting activities of high-rise and high-rise buildings. Control system applied to cars.
  8. The control system applied to fire trucks for fire fighting activities of high-rise and skyscrapers according to claim 1, wherein the turret control device (8) comprises a turret servo device and a body leveling device, and the turret servo device is a control computer, servo Includes control module, azimuth motor, pitch electric cylinder, azimuth readout module, pitch readout module, azimuth servo mechanism, rotary bearing, servo control module is attached to the control computer, both azimuth readout module and azimuth servo mechanism are rotary bearings Mesh with the external teeth of
    Among them, the body leveling device includes a leveling execution mechanism, leveling control module, angle horizontal measurement module, and leveling control module is installed, among which four power drivers and control computer are integrated in the leveling control cabinet, leveling control The cabinet is attached to the equipment control room, and during the leveling process of the fire extinguisher, two horizontal sensors feed back the level of the vehicle body, and one is the main horizontal sensor. Based on the frequency indicated by the horizontal sensor, it is attached to the mounting surface of the horizontal beam of the chassis rotating trunnion, and the other is a sub-horizontal sensor, attached to the horizontal beam of the front leveling cylinder, and in the leveling process, Feedback of horizontal level Control system applicable to fire fighting for fire engines of high-rise and high-rise buildings, characterized in.
  9. The control system applied to fire engines for fire extinguishing activities of high-rise and skyscrapers according to claim 2, wherein the general processing unit further includes an angle calculation module, and the angle calculation module includes the fire angle information of the fire bomb. Used to calculate,
    Among them, after finishing the laser distance measurement, the photoelectric detection device (9) acquires the oblique line distance L from the target fire source to the fire extinguishing bullet, and at the same time, the turret system sends the pitch angle θ of the target to the turret to the general scheduling module. , The photoelectric detector (9) calculates the trajectory of the fire bomb, finds the fire angle information of the fire bomb,
    Among them, the fire angle information calculation of the fire detection bomb of the photoelectric detector (9) includes the following steps:
    The angle calculation module is based on the following dynamic and kinematic differential equations:
    Dynamic differential equation
    Kinematic differential equation
    In the above kinematics and dynamics differential equations, the input and output are as shown in the table below.
    Of the, m is mass of the ammunition body, g is the gravitational acceleration, q is dynamic pressure, C A is the axial force coefficient, S M is the reference area of the extinguishing bombs, C N law Is the linear force coefficient, φ 'is the combined angle of attack, J Y1 is the moment of inertia around the bullet Y axis, J Z1 is the moment of inertia around the bullet Z axis, and C ZY1 = C ZZ1 is braking Is the moment coefficient, l is the reference length of the fire bomb, Δl is the length from the center of gravity of the fire bomb to the center of pressure,
    Using the fourth-order Runge-Kutta numerical method of ordinary differential equations, the association calculation is performed on the above equation, and all ballistic parameters u (t), v (t), w (t), ω Y1 (t), ω Z1 (t), X (t), Y (t), Z (t), φ (t), Ψ (t), γ (t) are calculated, of which t is the discretization time Control system applied to fire trucks for fire fighting activities of high-rise and skyscrapers characterized by
  10. Using the angle calculation module,
    Using the following formula, based on the target diagonal distance L and the target pitch angle θ relative to the turret, the target fire source calculates the height h0 for the fire bomb and the horizontal distance d from the target to the launch point. And
    h0 = L × sinθ
    d = L × cosθ
    After calculating all the ballistic parameters at the pitch angle φ of the specific trajectory, calculate the launch height H that reaches the horizontal distance d at the pitch φ angle of the specific trajectory, of which the initial value φ0 = θ,
    The formula (12) is used to determine the magnitude relationship between H and the target height h0, and when the formula (12) is satisfied, the iteration is stopped, and the current pitch angle φk is the final fireball launch pitch angle. Yes, if equation (12) cannot be satisfied, update launch pitch angle using formula (13), and calculate all ballistic parameters and launch height H k + 1 again using the dynamics and kinematic differential equations Of these, k is the current number of repetitions, and until the firing height H k and the target height h0 satisfy the equation (12), the firing angle φk at that time is the pitch firing angle of the final fire bullet. Control system applied to fire trucks for fire fighting activities of high-rise and high-rise buildings.
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